Cleaner shrimps and cleaner wrasses remove external parasites, whitespot is located just beneath the skin so its not really an external parasite. The cleaner shrimp will try to clean the fish but they won't be successful. So they can neither cure nor prevent whitespot.
When people have found that they added a cleaner shrimp or a cleaner wrasse and the whitespot went away it's most likely due to the fish being healthy and building up natural immunity. Yes it is possible for fish to fully recover from a whitespot outbreak without intervention but it totally depends on the system and the fish species.
The best prevention for whitespot is quarantining new fish.